ISSN 2348-5426 International Journal of Advances in Science and Technology (IJAST)

DC Motor Position Control using State Space Technique

A. Chowdhury1, D.Debnath2
1
Department of Electronics & Communication Engineering
2
Department of Electrical Engineering
National Institute of Technology, Agartala, India

ABSTRACT The design and modeling for DC motor position

control using state space technique has been presented in this A DC motor with armature control and a fixed field is assumed
paper. The objective of the work is to improve the steady state and the schematic diagram of the motor is shown in Fig.1.
performance of the DC motor position control system thereby
eliminating the steady state error of the motor position. In this
paper, the state space model of the DC motor is considered and
state feedback controller design is proposed. The state feedback
controller and state feedback controller with integral control are
e K JJ
designed using Pole Placement Technique. Ackermans formula is

used to find the value of feedback gain matrix. The simulation b
results are obtained through MATLAB Software. Graphical User
Interface (GUI) is developed for the controllers using MATLAB
Fig.1: Schematic Diagram of the DC motor
software. According to the simulation result, state feedback
controller with integral control has the better performance in
terms of steady state error than the state feedback controller. The dynamic behaviour of the DC motor is given by the
following equations :
Keywords Ackermans formula, DC motor, Graphical user di
V L Ri e
interface, Integral control, State feedback controller dt
T Kt .i
T J b
I. INTRODUCTION
e Ke
The DC motor is widely used in many industrial applications,
robot manipulators and home appliances where a precise Taking Laplace Transform and after simplification, the transfer
positioning of the motor is required. In this paper, DC motor
function is as below:
with armature control and a fixed field is considered as a third
order system[1].This paper is focused on studying State- ( S ) / V ( S ) K / S LS R JS b K 2
Feedback Controller with Integral control [2] in controlling the
DC motor at desired position. DC motor is modeled first to where, R= Armature resistance in ohm,
obtain the transfer function between shaft position and L=Armature inductance in henry,
armature voltage. The state space model [3] of the DC motor i= Armature current in ampere,
[4] is derived and verified. The State-Feedback controller is V=Armature voltage in volts,
designed based on the state space model. After that, State- e=back emf voltage in volts,
Feedback controller with integral control [5] is designed to K=Ke=electromotive force constant in volt/(rad/sec),
overcome the problem faced in achieving desired response by Kt=torque constant in N-m/Ampere,
State-Feedback controller. Pole-Placement design technique is T=torque developed in N-m,
used for the state feedback controller with and without integral =angular displacements of shaft in radians,
control since it has the best performance compared to other J= moment of inertia of motor and load in Kg-m2/rad,
controllers in terms of oscillation and settling time[6]. b=damping ratio of mechanical system in
Ackermanns formula [7],[8] is used to find the value of N-m/(rad/sec).
feedback gain matrix. GUI (Graphical User Interface) [9] is
developed for the controllers through MATLAB software to Numerical values
represent the information and available action. Each controller The following specifications and parameters [1] for the DC
performance is analyzed with unit step response. Finally, the motor have been considered:
MATLAB simulation result of the state feedback Controller
and state feedback Controller with integral control is compared a)Specifications: 2hp,230volts,8.5amperes,1500rpm
[10,11].
b)Parameters:
II. DC MOTOR MODELING

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ISSN 2348-5426 International Journal of Advances in Science and Technology (IJAST)

R=2.45,
L=0.035H, IV. STATE-FEEDBACK CONTROLLER

K=1.2volt/(rad/sec), A. State feedback Controller

J=0.022Kgm2/rad,
b=0.0005Nm/(rad/sec).
Using the numerical values of the parameters, the overall
transfer function of the system is obtained as:
(S ) / V (S ) 1.2 / 0.00077S 3 0.0539S 2 1.441S
The Step response of the system is shown in fig.2
The method of feed-backing all the state variables to the input
of the system through a suitable feedback matrix in the control
strategy is known as the full-state variable feedback control
technique. Using this approach, the poles or eigen values of the
closed loop system can be placed at the desired location.. Thus,
the aim is to design a feedback controller that will move some
or all of the open-loop poles of the measured system to the
desired closed-loop pole location as specified. Hence, this
approach is also known as the pole-placement control design.
In this paper, the state feedback controller is designed using
pole placement technique via Ackermanns formula.

Fig.3: Block diagram of system with State feedback controller

The general state space equation for the block diagram as

Fig.2: Step response of the system shown in Fig.3 is
(t) = (A-BK)x(t) + Br(t)
III.STATE SPACE MODELING The Ackermanns formula to determine state feedback gain
State-space representation is a mathematical model of a matrix (K) is,
physical system as set of input, output and state variables
K = [ 0 0 1] Qc-1 d(A)
related by first order differential equations. A state model of
the DC motor is derived by defining the three states : where, K = feedback gain matrix
The position of the motor shaft, the velocity of the motor Qc = Controllability Matrix
shaft and armature current. =[ B AB A2B An-2B An-1B ]
The state space representation of the DC motor in matrix
d(A) = the matrix polynomial formed with the
form is:
coefficient of the desired characteristic equation d(S)

0 1 0
x
The step response of full state feedback controller is shown
x1 0
1
b K in fig.4
x2 0
J
x2 0 U
J
x
R 3
1
x3 0
K

L
L L

x1
y 1 0 0 x2
x3

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ISSN 2348-5426 International Journal of Advances in Science and Technology (IJAST)

(t) = Ax(t) + Bu(t)

y = C x(t)
as follows:

x i t C 0 xi (t ) 0 1
A x t u (t ) r (t )
0 B 0
x t

xi (t )
Defining U (t ) K I K x t and substituting it

Fig.4: step response of the system with State feedback controller into the above equation , the system matrix with integral
control is obtained as
B. State feedback Controller with Integral control
One of the major disadvantage of state feedback controller
design by using only the pole-placement is the introduction of x i t C 0 xi (t ) 1
A BK
BK I x t 0
r (t )
x t
a large steady-state error. In order to compensate this problem,
an integral control is added where it will eliminate the steady-
state error in responding to a step input. xi (t )
and y (t ) [0 C]
x t
Figure.5 shows the block diagram of the system with the
integral control added into it.

Fig.5: Block diagram of system with State feedback and Integral Controller

To introduce integral control, the state x as well as the

integral of error is feedback by augmenting the state x with Fig.6: Step response of the system with State feedback and Integral controller
the extra integral state xi defined by the equation,
t The step response of full state feedback controller with
xi t r t y t dt Integral Control is shown in fig.6
0

x i t r t y t dt r t Cx(t )
V. SIMULINK REPRESENTATION
The DC motor model, state feedback controller and state
feedback controller with integral control built in MATLAB
x i t is easily included by augmenting the original system, Simulink are shown in Fig.7, Fig.8 & Fig.9

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ISSN 2348-5426 International Journal of Advances in Science and Technology (IJAST)

Fig.9: Simulink model of full state-feedback controller with Integral Control

.
VI. GRAPHICAL USER INTERFACE (GUI)
Fig.7: Simulink model of DC motor
A graphical user interface is a particular case of user
interface for interacting with a computer which employs
graphical images and widgets in addition to text to represent
the information and actions available to the user.
The Graphical user Interface (GUI) is developed in
MATLAB for the adjustment of parameters and viewing,
manipulating or running programs.The GUI for the DC
motor ,State feedback controller and State feedback controller
with integral control are shown in fig.-10, fig.-11, and fig.-12
respectively.

Fig.8: Simulink model of full state-feedback controller

Fig.10: Graphical User Interface of DC motor response

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ISSN 2348-5426 International Journal of Advances in Science and Technology (IJAST)

VII. COMPARISON OF OUTPUT RESPONSE

The comparison of MATLAB simulation results for state

feedback controller and state feedback controller with integral
control is shown in fig.13. It is seen that a large steady state
error is introduced by the state feedback controller. The
designed state feedback with integral control gives better
performance in terms of percentage of steady state error.

VIII. CONCLUSIONS
In this paper, the steady state performance of the DC motor
position control system has been improved. It has been shown
that the state feedback controller with integral control
eliminates the large steady state error introduced by the state
Fig.11: Graphical User Interface of State feedback controller
feedback controller. The controller performance is analyzed
and compared using the step response through MATLAB. The
Graphical user Interface (GUI) is developed in MATLAB.
Based on the simulation results, it can be concluded that state
feedback controller with integral control is better than the state
feedback controller without integral control.

REFERENCES

[1]. Neenu Thomas, Dr. P. Poongodi: Position Control of

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Fig.12: Graphical User Interface of State feedback controller with Integral
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Fig.13: comparison of output response for State feedback controller Society, 2001
and State feedback controller with Integral control

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ISSN 2348-5426 International Journal of Advances in Science and Technology (IJAST)

[7]. J.J. D Azzo and C. H. Houpious, Linear Control
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